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| ActArrayProxy (PlayerClient *aPc, uint32_t aIndex=0) |
| Default constructor.
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| ~ActArrayProxy () |
| Default destructor.
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void | RequestGeometry (void) |
| Geometry request - call before getting the geometry of a joint through the accessor method.
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void | SetPowerConfig (bool aVal) |
| Power control.
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void | SetBrakesConfig (bool aVal) |
| Brakes control.
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void | SetSpeedConfig (uint32_t aJoint, float aSpeed) |
| Speed control.
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void | MoveTo (uint32_t aJoint, float aPos) |
| Send an actuator to a position.
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void | MoveToMulti (std::vector< float > aPos) |
| Send actuators 0 thru n to the designated positions.
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void | MoveAtSpeed (uint32_t aJoint, float aSpeed) |
| Move an actuator at a speed.
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void | MoveAtSpeedMulti (std::vector< float > aSpeed) |
| Move actuators 0 thru n at the designated speeds.
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void | MoveHome (int aJoint) |
| Send an actuator, or all actuators, home.
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void | SetActuatorCurrent (uint32_t aJoint, float aCurrent) |
| Set an actuator to a given current.
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void | SetActuatorCurrentMulti (std::vector< float > aCurrent) |
| Set actuators 0 thru n to the given currents.
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uint32_t | GetCount (void) const |
| Gets the number of actuators in the array.
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player_actarray_actuator_t | GetActuatorData (uint32_t aJoint) const |
| Accessor method for getting an actuator's data.
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player_actarray_actuatorgeom_t | GetActuatorGeom (uint32_t aJoint) const |
| Same again for getting actuator geometry.
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player_point_3d_t | GetBasePos (void) const |
| Accessor method for getting the base position.
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player_orientation_3d_t | GetBaseOrientation (void) const |
| Accessor method for getting the base orientation.
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player_actarray_actuator_t | operator[] (uint32_t aJoint) |
| Actuator data access operator. More...
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bool | IsValid () const |
| Returns true if we have received any data from the device.
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bool | IsFresh () const |
| Fresh is set to true on each new read. More...
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void | NotFresh () |
| This states that the data in a client is currently not Fresh.
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std::string | GetDriverName () const |
| Returns the driver name. More...
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double | GetDataTime () const |
| Returns the received timestamp [s].
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double | GetElapsedTime () const |
| Returns the received timestamp [s].
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PlayerClient * | GetPlayerClient () const |
| Returns a pointer to the Player Client.
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uint32_t | GetIndex () const |
| Returns device index.
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uint32_t | GetInterface () const |
| Returns device interface.
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std::string | GetInterfaceStr () const |
| Returns device interface.
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void | SetReplaceRule (bool aReplace, int aType=-1, int aSubtype=-1) |
| Set a replace rule for this proxy on the server. More...
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int | HasCapability (uint32_t aType, uint32_t aSubtype) |
| Request capabilities of device. More...
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int | GetBoolProp (char *aProperty, bool *aValue) |
| Request a boolean property.
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int | SetBoolProp (char *aProperty, bool aValue) |
| Set a boolean property.
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int | GetIntProp (char *aProperty, int32_t *aValue) |
| Request an integer property.
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int | SetIntProp (char *aProperty, int32_t aValue) |
| Set an integer property.
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int | GetDblProp (char *aProperty, double *aValue) |
| Request a double property.
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int | SetDblProp (char *aProperty, double aValue) |
| Set a double property.
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int | GetStrProp (char *aProperty, char **aValue) |
| Request a string property.
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int | SetStrProp (char *aProperty, char *aValue) |
| Set a string property.
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template<typename T > |
connection_t | ConnectReadSignal (T aSubscriber) |
| Connect a signal to this proxy For more information check out Signals & multithreading.
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void | DisconnectReadSignal (connection_t aSubscriber) |
| Disconnect a signal to this proxy.
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The ActArrayProxy
class is used to control a actarray device.